Nonlinear optimal control for the five-axle and three-steering coupled-vehicle system

G. Rigatos, M. Abbaszadeh, K. Busawon, P. Siano, M. Al Numay, G. Cuccurullo, F. Zouari
{"title":"Nonlinear optimal control for the five-axle and three-steering coupled-vehicle system","authors":"G. Rigatos,&nbsp;M. Abbaszadeh,&nbsp;K. Busawon,&nbsp;P. Siano,&nbsp;M. Al Numay,&nbsp;G. Cuccurullo,&nbsp;F. Zouari","doi":"10.1007/s43684-025-00097-x","DOIUrl":null,"url":null,"abstract":"<div><p>Transportation of heavy loads is often performed by multi-axle multi-steered heavy duty vehicles In this article a novel nonlinear optimal control method is applied to the kinematic model of the five-axle and three-steering coupled vehicle system. First, it is proven that the dynamic model of this articulated multi-vehicle system is differentially flat. Next. the state-space model of the five-axle and three-steering vehicle system undergoes approximate linearization around a temporary operating point that is recomputed at each time-step of the control method. The linearization is based on Taylor series expansion and on the associated Jacobian matrices. For the linearized state-space model of the five-axle and three-steering vehicle system a stabilizing optimal (H-infinity) feedback controller is designed. This controller stands for the solution of the nonlinear optimal control problem under model uncertainty and external perturbations. To compute the controller’s feedback gains an algebraic Riccati equation is repetitively solved at each iteration of the control algorithm. The stability properties of the control method are proven through Lyapunov analysis. The proposed nonlinear optimal control approach achieves fast and accurate tracking of setpoints under moderate variations of the control inputs and minimal dispersion of energy by the propulsion and steering system of the five-axle and three-steering vehicle system.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"5 1","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-025-00097-x.pdf","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"自主智能系统(英文)","FirstCategoryId":"1093","ListUrlMain":"https://link.springer.com/article/10.1007/s43684-025-00097-x","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

Abstract

Transportation of heavy loads is often performed by multi-axle multi-steered heavy duty vehicles In this article a novel nonlinear optimal control method is applied to the kinematic model of the five-axle and three-steering coupled vehicle system. First, it is proven that the dynamic model of this articulated multi-vehicle system is differentially flat. Next. the state-space model of the five-axle and three-steering vehicle system undergoes approximate linearization around a temporary operating point that is recomputed at each time-step of the control method. The linearization is based on Taylor series expansion and on the associated Jacobian matrices. For the linearized state-space model of the five-axle and three-steering vehicle system a stabilizing optimal (H-infinity) feedback controller is designed. This controller stands for the solution of the nonlinear optimal control problem under model uncertainty and external perturbations. To compute the controller’s feedback gains an algebraic Riccati equation is repetitively solved at each iteration of the control algorithm. The stability properties of the control method are proven through Lyapunov analysis. The proposed nonlinear optimal control approach achieves fast and accurate tracking of setpoints under moderate variations of the control inputs and minimal dispersion of energy by the propulsion and steering system of the five-axle and three-steering vehicle system.

五轴三转向耦合车辆系统的非线性最优控制
摘要针对多轴多转向重型车辆的重载运输问题,提出了一种新的非线性最优控制方法,应用于五轴三转向耦合车辆系统的运动学模型。首先,证明了该铰接多车系统的动力学模型是差分平坦的。下一个。五轴三转向车辆系统的状态空间模型围绕临时工作点进行近似线性化,在控制方法的每个时间步长重新计算临时工作点。线性化是基于泰勒级数展开和相关的雅可比矩阵。针对五轴三转向车辆系统的线性化状态空间模型,设计了稳定最优(h∞)反馈控制器。该控制器解决了模型不确定性和外部扰动下的非线性最优控制问题。为了计算控制器的反馈增益,在控制算法的每次迭代中重复求解一个代数Riccati方程。通过李雅普诺夫分析证明了该控制方法的稳定性。所提出的非线性最优控制方法能够使五轴三转向车辆系统的推进转向系统在控制输入变化适中、能量分散最小的情况下实现对整定值的快速准确跟踪。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
CiteScore
3.90
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信